Simulation of forward kinematics of a robotic arm using Matlab
AIM:
To simulate forward kinematics of a robotic arm using Matlab
THEORY:
Forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters.The kinematics equations of the robot are used in welding, robotics, computer games, and animation.
l1 = Length of link 1
l2 = Length of link 2
θ1 = Angle subtended by link 1
θ2 = Angle subtended by link 2
OBJECTIVES OF THE PROJECT:
1.To find the positions of link1 and link2 for different set of values of θ1 and θ2.
2.To create animation to show positions of link1 and link2 for different set of values of θ1 and θ2
EXPLAINATION OF PROGRAM:
1.The inputs l1 = length of link1, l2 = length of link2, theta1 = angle subtended by link1 with base, theta2 = angle subtended by link2 with base are taken
2.The frame number is initialized.
3.The base coordinates are (x0,y0)=(0,0), the coordinates of link1, which are (x1,y1) are calculated using trigonometry, x1 = x0.cos θ1 and y1 = y0.sinθ1 by using for loop.Similarly, coordinates of link2 are x2 = x1 + x1.cos θ2 and y2 = y1 + y1.sin θ2 are calculated.
4.By using for loop, for each value of θ1, different positions of link2 for set of values of θ2 can be observed.
5.The link1 and link2 are plotted and limits of x and y axis are given.
6.The frame for animation video is created and frame value is increamented to store in single video file.
7.The video file is created and set of frames are written in that video.
ERRORS FACED WHILE PROGRAMMING:
The faced errors are due Case-sensitive 'W' letter of VideoWriter
Result:
The animation video of simulation:
CONCLUSION:
We can observe simulation of forward kinematics of robotic arm from animation video.